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<div class="title">LegController.h</div>  </div>
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<a href="../../d0/d41/_leg_controller_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#ifndef PROJECT_LEGCONTROLLER_H</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#define PROJECT_LEGCONTROLLER_H</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Dense&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;leg_control_command_lcmt.hpp&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;leg_control_data_lcmt.hpp&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d3/dc7/_quadruped_8h.html">Dynamics/Quadruped.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/d6a/_spine_board_8h.html">SimUtilities/SpineBoard.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d42/ti__boardcontrol_8h.html">SimUtilities/ti_boardcontrol.h</a>&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a>&quot;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="../../d1/d6a/struct_leg_controller_command.html">   23</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d1/d6a/struct_leg_controller_command.html">LegControllerCommand</a> {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../d1/d6a/struct_leg_controller_command.html#aec04c8f9e2e28413b812a4a6b53c01d1">   25</a></span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#aec04c8f9e2e28413b812a4a6b53c01d1">LegControllerCommand</a>() { <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#aa66fb97d3c112966b0eb4c82cd607541">zero</a>(); }</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#aa66fb97d3c112966b0eb4c82cd607541">zero</a>();</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="../../d1/d6a/struct_leg_controller_command.html#adde5c17c022ac13e4ee6f9911e67a04b">   29</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#afb0e544cbf0f965948916ea3c8839ac8">tauFeedForward</a>, <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#adaa50bd4631e1aee42551eb6d8070295">forceFeedForward</a>, <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#a796ce2e6878c7a9cb918a7d30b7b45c2">qDes</a>, <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#a0223a895281a7a8293772c5bee2928a0">qdDes</a>, <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#a73f809f59369d109dfec52056cfe73ed">pDes</a>, <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#adde5c17c022ac13e4ee6f9911e67a04b">vDes</a>;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="../../d1/d6a/struct_leg_controller_command.html#adaddead1b272b0f2631fc0158dedeac5">   30</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#aa18fa836228d1e38f5bc8becd81ea8fd">kpCartesian</a>, <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#ae09b18e018af93dfbca2c9a6e17e5bc7">kdCartesian</a>, <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#adaddead1b272b0f2631fc0158dedeac5">kpJoint</a>, <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#af933954e490da98794606debc8984051">kdJoint</a>;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;};</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="../../d7/d6e/struct_leg_controller_data.html">   34</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a> {</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="../../d7/d6e/struct_leg_controller_data.html#aaa11de4f2848925f49dac91be1d07794">   36</a></span>&#160;  <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#aaa11de4f2848925f49dac91be1d07794">LegControllerData</a>() { <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#aa66fb97d3c112966b0eb4c82cd607541">zero</a>(); }</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="../../d7/d6e/struct_leg_controller_data.html#a8937593f0662dc0df89bea01325fced5">   38</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#a8937593f0662dc0df89bea01325fced5">setQuadruped</a>(<a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;T&gt;</a>&amp; quad) { quadruped = &amp;quad; }</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#aa66fb97d3c112966b0eb4c82cd607541">zero</a>();</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="../../d7/d6e/struct_leg_controller_data.html#ab9ce5de5a32042e93889f43329d560ee">   42</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> q, qd, p, <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#ab9ce5de5a32042e93889f43329d560ee">v</a>;</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="../../d7/d6e/struct_leg_controller_data.html#a56845a60aa0dd7573917a268aa20697a">   43</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#a56845a60aa0dd7573917a268aa20697a">J</a>;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="../../d7/d6e/struct_leg_controller_data.html#a3bddf02804598a241dddc0514d9653f0">   44</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#a3bddf02804598a241dddc0514d9653f0">tauEstimate</a>;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="../../d7/d6e/struct_leg_controller_data.html#a87235f1bcd9e072075be78c9072add89">   45</a></span>&#160;  <a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;T&gt;</a>* <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#a87235f1bcd9e072075be78c9072add89">quadruped</a>;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;};</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="../../d0/d96/class_leg_controller.html">   49</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d0/d96/class_leg_controller.html">LegController</a> {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="../../d0/d96/class_leg_controller.html#a1767825f42ba1f1d6c359886c7b2a342">   51</a></span>&#160;  <a class="code" href="../../d0/d96/class_leg_controller.html#a1767825f42ba1f1d6c359886c7b2a342">LegController</a>(<a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;T&gt;</a>&amp; quad) : _quadruped(quad) {</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; data : datas) data.setQuadruped(_quadruped);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  }</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordtype">void</span> zeroCommand();</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">void</span> edampCommand(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a> robot, T gain);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">void</span> updateData(<span class="keyword">const</span> <a class="code" href="../../d5/d09/struct_spi_data.html">SpiData</a>* spiData);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">void</span> updateData(<span class="keyword">const</span> <a class="code" href="../../de/de1/struct_ti_board_data.html">TiBoardData</a>* tiBoardData);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">void</span> updateCommand(<a class="code" href="../../d0/ddd/struct_spi_command.html">SpiCommand</a>* spiCommand);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">void</span> updateCommand(<a class="code" href="../../d8/d03/struct_ti_board_command.html">TiBoardCommand</a>* tiBoardCommand);</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="../../d0/d96/class_leg_controller.html#a47178c450659ac6793ac7a74351094e5">   61</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d0/d96/class_leg_controller.html#a47178c450659ac6793ac7a74351094e5">setEnabled</a>(<span class="keywordtype">bool</span> enabled) { _legsEnabled = enabled; };</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">void</span> setLcm(leg_control_data_lcmt* data, leg_control_command_lcmt* command);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="../../d0/d96/class_leg_controller.html#a2ccb52cceb6b9ac1a6ef86c823d81fa1">   67</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d0/d96/class_leg_controller.html#a2ccb52cceb6b9ac1a6ef86c823d81fa1">setMaxTorqueCheetah3</a>(T tau) { _maxTorque = tau; }</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="../../d0/d96/class_leg_controller.html#a0989efb2b62a34f7cef3f4cf29b6783f">   69</a></span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html">LegControllerCommand&lt;T&gt;</a> commands[4];</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="../../d0/d96/class_leg_controller.html#acc73b19fc4f23265cc857cb94b49f7b3">   70</a></span>&#160;  <a class="code" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData&lt;T&gt;</a> datas[4];</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="../../d0/d96/class_leg_controller.html#a1a53bbec70a5b55928d83c5e86fc76e8">   71</a></span>&#160;  <a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;T&gt;</a>&amp; <a class="code" href="../../d0/d96/class_leg_controller.html#a1a53bbec70a5b55928d83c5e86fc76e8">_quadruped</a>;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="../../d0/d96/class_leg_controller.html#a9eaf3553d6578f0eb244fed996dd2fe9">   72</a></span>&#160;  <span class="keywordtype">bool</span> _legsEnabled = <span class="keyword">false</span>;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="../../d0/d96/class_leg_controller.html#a7d346be43debdb28740518f7a4de4f16">   73</a></span>&#160;  T _maxTorque = 0;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;};</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d0/d41/_leg_controller_8h.html#ab89026e04e11b835c2c981ff9048e1c3">computeLegJacobianAndPosition</a>(<a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;T&gt;</a>&amp; quad, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; q, <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a>* J,</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                                   <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>* p, <span class="keywordtype">int</span> leg);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">#endif  // PROJECT_LEGCONTROLLER_H</span></div><div class="ttc" id="_leg_controller_8h_html_ab89026e04e11b835c2c981ff9048e1c3"><div class="ttname"><a href="../../d0/d41/_leg_controller_8h.html#ab89026e04e11b835c2c981ff9048e1c3">computeLegJacobianAndPosition</a></div><div class="ttdeci">void computeLegJacobianAndPosition(Quadruped&lt; T &gt; &amp;quad, Vec3&lt; T &gt; &amp;q, Mat3&lt; T &gt; *J, Vec3&lt; T &gt; *p, int leg)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d2d/_leg_controller_8cpp_source.html#l00240">LegController.cpp:240</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html_a87235f1bcd9e072075be78c9072add89"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#a87235f1bcd9e072075be78c9072add89">LegControllerData::quadruped</a></div><div class="ttdeci">Quadruped&lt; T &gt; * quadruped</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00045">LegController.h:45</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_a796ce2e6878c7a9cb918a7d30b7b45c2"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#a796ce2e6878c7a9cb918a7d30b7b45c2">LegControllerCommand::qDes</a></div><div class="ttdeci">Vec3&lt; T &gt; qDes</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_a0223a895281a7a8293772c5bee2928a0"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#a0223a895281a7a8293772c5bee2928a0">LegControllerCommand::qdDes</a></div><div class="ttdeci">Vec3&lt; T &gt; qdDes</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html_a8937593f0662dc0df89bea01325fced5"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#a8937593f0662dc0df89bea01325fced5">LegControllerData::setQuadruped</a></div><div class="ttdeci">void setQuadruped(Quadruped&lt; T &gt; &amp;quad)</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00038">LegController.h:38</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html">LegControllerCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00023">LegController.h:23</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_ae09b18e018af93dfbca2c9a6e17e5bc7"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#ae09b18e018af93dfbca2c9a6e17e5bc7">LegControllerCommand::kdCartesian</a></div><div class="ttdeci">Mat3&lt; T &gt; kdCartesian</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00030">LegController.h:30</a></div></div>
<div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00056">Quadruped.h:56</a></div></div>
<div class="ttc" id="struct_spi_command_html"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html">SpiCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00010">SpineBoard.h:10</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html_aaa11de4f2848925f49dac91be1d07794"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#aaa11de4f2848925f49dac91be1d07794">LegControllerData::LegControllerData</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW LegControllerData()</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00036">LegController.h:36</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_adaa50bd4631e1aee42551eb6d8070295"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#adaa50bd4631e1aee42551eb6d8070295">LegControllerCommand::forceFeedForward</a></div><div class="ttdeci">Vec3&lt; T &gt; forceFeedForward</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
<div class="ttc" id="_quadruped_8h_html"><div class="ttname"><a href="../../d3/dc7/_quadruped_8h.html">Quadruped.h</a></div><div class="ttdoc">Data structure containing parameters for quadruped robot. </div></div>
<div class="ttc" id="struct_leg_controller_data_html_a3bddf02804598a241dddc0514d9653f0"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#a3bddf02804598a241dddc0514d9653f0">LegControllerData::tauEstimate</a></div><div class="ttdeci">Vec3&lt; T &gt; tauEstimate</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00044">LegController.h:44</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="cpp_types_8h_html"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a></div></div>
<div class="ttc" id="class_leg_controller_html_a1767825f42ba1f1d6c359886c7b2a342"><div class="ttname"><a href="../../d0/d96/class_leg_controller.html#a1767825f42ba1f1d6c359886c7b2a342">LegController::LegController</a></div><div class="ttdeci">LegController(Quadruped&lt; T &gt; &amp;quad)</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00051">LegController.h:51</a></div></div>
<div class="ttc" id="class_leg_controller_html"><div class="ttname"><a href="../../d0/d96/class_leg_controller.html">LegController</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00049">LegController.h:49</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_adde5c17c022ac13e4ee6f9911e67a04b"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#adde5c17c022ac13e4ee6f9911e67a04b">LegControllerCommand::vDes</a></div><div class="ttdeci">Vec3&lt; T &gt; vDes</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_aec04c8f9e2e28413b812a4a6b53c01d1"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#aec04c8f9e2e28413b812a4a6b53c01d1">LegControllerCommand::LegControllerCommand</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW LegControllerCommand()</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00025">LegController.h:25</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_afb0e544cbf0f965948916ea3c8839ac8"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#afb0e544cbf0f965948916ea3c8839ac8">LegControllerCommand::tauFeedForward</a></div><div class="ttdeci">Vec3&lt; T &gt; tauFeedForward</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
<div class="ttc" id="class_leg_controller_html_a2ccb52cceb6b9ac1a6ef86c823d81fa1"><div class="ttname"><a href="../../d0/d96/class_leg_controller.html#a2ccb52cceb6b9ac1a6ef86c823d81fa1">LegController::setMaxTorqueCheetah3</a></div><div class="ttdeci">void setMaxTorqueCheetah3(T tau)</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00067">LegController.h:67</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_af933954e490da98794606debc8984051"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#af933954e490da98794606debc8984051">LegControllerCommand::kdJoint</a></div><div class="ttdeci">Mat3&lt; T &gt; kdJoint</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00030">LegController.h:30</a></div></div>
<div class="ttc" id="_spine_board_8h_html"><div class="ttname"><a href="../../d0/d6a/_spine_board_8h.html">SpineBoard.h</a></div><div class="ttdoc">Spine Board Code, used to simulate the SpineBoard. </div></div>
<div class="ttc" id="struct_leg_controller_data_html"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00034">LegController.h:34</a></div></div>
<div class="ttc" id="class_leg_controller_html_a1a53bbec70a5b55928d83c5e86fc76e8"><div class="ttname"><a href="../../d0/d96/class_leg_controller.html#a1a53bbec70a5b55928d83c5e86fc76e8">LegController::_quadruped</a></div><div class="ttdeci">Quadruped&lt; T &gt; &amp; _quadruped</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00071">LegController.h:71</a></div></div>
<div class="ttc" id="class_leg_controller_html_a47178c450659ac6793ac7a74351094e5"><div class="ttname"><a href="../../d0/d96/class_leg_controller.html#a47178c450659ac6793ac7a74351094e5">LegController::setEnabled</a></div><div class="ttdeci">void setEnabled(bool enabled)</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00061">LegController.h:61</a></div></div>
<div class="ttc" id="struct_ti_board_command_html"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html">TiBoardCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00009">ti_boardcontrol.h:9</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html_a56845a60aa0dd7573917a268aa20697a"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#a56845a60aa0dd7573917a268aa20697a">LegControllerData::J</a></div><div class="ttdeci">Mat3&lt; T &gt; J</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00043">LegController.h:43</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_adaddead1b272b0f2631fc0158dedeac5"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#adaddead1b272b0f2631fc0158dedeac5">LegControllerCommand::kpJoint</a></div><div class="ttdeci">Mat3&lt; T &gt; kpJoint</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00030">LegController.h:30</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_aa18fa836228d1e38f5bc8becd81ea8fd"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#aa18fa836228d1e38f5bc8becd81ea8fd">LegControllerCommand::kpCartesian</a></div><div class="ttdeci">Mat3&lt; T &gt; kpCartesian</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00030">LegController.h:30</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_a73f809f59369d109dfec52056cfe73ed"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#a73f809f59369d109dfec52056cfe73ed">LegControllerCommand::pDes</a></div><div class="ttdeci">Vec3&lt; T &gt; pDes</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_aa66fb97d3c112966b0eb4c82cd607541"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#aa66fb97d3c112966b0eb4c82cd607541">LegControllerCommand::zero</a></div><div class="ttdeci">void zero()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d2d/_leg_controller_8cpp_source.html#l00019">LegController.cpp:19</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a></div><div class="ttdeci">RobotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00120">cppTypes.h:120</a></div></div>
<div class="ttc" id="struct_ti_board_data_html"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html">TiBoardData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00020">ti_boardcontrol.h:20</a></div></div>
<div class="ttc" id="ti__boardcontrol_8h_html"><div class="ttname"><a href="../../d9/d42/ti__boardcontrol_8h.html">ti_boardcontrol.h</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html_ab9ce5de5a32042e93889f43329d560ee"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#ab9ce5de5a32042e93889f43329d560ee">LegControllerData::v</a></div><div class="ttdeci">Vec3&lt; T &gt; v</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00042">LegController.h:42</a></div></div>
<div class="ttc" id="struct_spi_data_html"><div class="ttname"><a href="../../d5/d09/struct_spi_data.html">SpiData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00034">SpineBoard.h:34</a></div></div>
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